小型水下机器人的总体设计和实现方法  

Overall Design and Implementation Method of Small Underwater Robot

作　　者：王舒宇 李俊达 马腾 昝英飞 

机构地区：[1]哈尔滨工程大学船舶工程学院,黑龙江 哈尔滨

出　　处：《人工智能与机器人研究》2023年第2期48-54,共7页Artificial Intelligence and Robotics Research

摘　　要：本文以自主设计的小型水下机器人为例,分析了其系统总体设计以及各关键子系统,包括运动系统、供电系统、通信系统、控制系统、勘察系统以及其他系统等设计的要点和方法。机器人采用模块化和便捷化的设计思想,可以进行模块化换装,具备ROV功能多样化。可以对水下一定体积的目标物体进行抓取、捕捞以及深水水域水质采样,设计的机器人外形多镂空,并尽可能减小机器人的体积,使用比较轻便的材料,使得机器人方便携带,便于较偏远地区任务的运输工作。经多次实验验证,该套设计方法同样适用于其他同类型水下机器人的设计和生产。Taking the self-designed small underwater vehicle as an example, this paper analyzes the main points and methods of its overall system design and its key subsystems, including motion system, power supply system, communication system, control system, survey system and other systems. The robot adopts the design idea of modularization and convenience, which can carry out modular replacement and has diverse ROV functions. The shape of the robot that can catch and catch a certain volume of underwater target objects and sample the water quality in deep water is hollow, and the volume of the robot is reduced as much as possible. The use of lighter materials makes the robot portable and convenient for the transportation of tasks in remote areas. Through many experiments, the design method is also applicable to the design and production of other underwater robots of the same type.

关 键 词：水下机器人 总体设计 开架式 子系统 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]